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Merge pull request #3278 from shellixyz/manual_throttle_increase_in_auto_throttle_modes_clean

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FW: Allow manual throttle increase in auto controlled modes
This commit is contained in:
Alberto García Hierro 2018-06-18 20:03:48 +01:00 • committed by GitHub
commit b665c48616
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5 changed files with 34 additions and 3 deletions
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21
src/main/navigation/navigation_fixedwing.c
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@ -48,6 +48,9 @@
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "rx/rx.h"
// If we are going slower than NAV_FW_MIN_VEL_SPEED_BOOST - boost throttle to fight against the wind
#define NAV_FW_THROTTLE_SPEED_BOOST_GAIN 1.5f
#define NAV_FW_MIN_VEL_SPEED_BOOST 700.0f // 7 m/s
@ -58,6 +61,7 @@
static bool isPitchAdjustmentValid = false;
static bool isRollAdjustmentValid = false;
static float throttleSpeedAdjustment = 0;
static bool isAutoThrottleManuallyIncreased = false;
/*-----------------------------------------------------------
@ -450,6 +454,18 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
}
uint16_t correctedThrottleValue = constrain(navConfig()->fw.cruise_throttle + throttleCorrection, navConfig()->fw.min_throttle, navConfig()->fw.max_throttle);
// Manual throttle increase
if (navConfig()->fw.allow_manual_thr_increase && !FLIGHT_MODE(FAILSAFE_MODE)) {
if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95)
correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - navConfig()->fw.cruise_throttle);
else
correctedThrottleValue = motorConfig()->maxthrottle;
isAutoThrottleManuallyIncreased = (rcCommand[THROTTLE] > navConfig()->fw.cruise_throttle);
} else {
isAutoThrottleManuallyIncreased = false;
}
rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle);
}
@ -476,6 +492,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
#endif
}
bool isFixedWingAutoThrottleManuallyIncreased()
{
return isAutoThrottleManuallyIncreased;
}
/*-----------------------------------------------------------
* FixedWing land detector
*-----------------------------------------------------------*/